The Searchless Adaptive Control System of Electric Drive for Mechanisms with the Inertia Variable Moment

Abstract

The electric drive control system for the mechanisms with the variable moment of inertia is considered. Uncertainty of the moment of inertia significantly influences the dynamic accuracy of the system and loading disturbance attack. In this connection it is necessary to perform in the electric drives the parametrical adjustment of regulators according to the current resulted moment of inertia to provide invariance of dynamic characteristics of the system to variations of parameters of the regulation object. To maintain invariance of dynamic characteristics to variations of parameters of the regulation object the observer in the form of adaptive model of the actuating electric motor is included in the system. There is performed the synthesis and the analysis of the most acceptable variants of self-adjustment contours as well as search of the additional measures allowing to provide acceptable quality indicators not only in dynamic, but also in static operating modes. Recommendations on the choice of regulators of the basic system contours of the subordinated regulation and the additional devices defining conditions of parameters identification and their definition are given. The researches have shown the expediency of introduction of the unit of processing the input information in the structure of a control system by means of which the sites of movement corresponding to acceleration, braking and movement with constant speed are defined. The results of modeling of the self-adjusted system with variation of the moments of loading and inertia are given. The results of development of the system of control from the self-adjusted model made it possible to give to the basic contour of a control system of the electric drive the new qualities peculiar both to linear and relay systems. The research of dynamics has shown that reaction of the system does not depend on the failures of speed connected with delay of working off by linear regulators of step disturbance from loading and change of the drive inertia moment. To compensate the given disturbances, the system should have power margin and overload capacity of the engine.